%0 Conference Paper
%A Verschueren, Robin
%A Zanon, Mario
%A Quirynen, Rien
%A Diehl, Moritz
%B European Control Conference
%C Aalborg, Denmark
%D 2016
%F eprints:4007
%I IEEE
%P 141-147
%T Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm
%U http://eprints.imtlucca.it/4007/
%X This work presents an embedded nonlinear model predictive control (NMPC) strategy for autonomous vehicles under a minimum time objective. The time-optimal control problem is stated in a path-parametric formulation such that existing reliable numerical methods for real-time nonlinear MPC can be used. Building on previous work on timeoptimal driving, we present an approach based on a sequential quadratic programming type algorithm with online propagation of second order derivatives. As an illustration of our method, we provide closed-loop simulation results based on a vehicle model identified for small-scale electric race cars.